Autonomous exploration has been widely studied and recent works have measured its performance in terms of map uncertainty [1]}, [2]}, [3]}, total travel distance [4]}, energy efficiency [5]}, and exploration time [4]}, [7]}. Beyond optimizing for different objectives, different exploration strategies and planning methods have been proposed to tackle different environments, such as structured indoor environments [8]}, [9]}, [10]}, [11]}, [12]} and subterranean environments [13]}, [7]}.
